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Direct Pulse Signal Interpolation for Robot Movement Control Programming in INFORM III Language
- Source :
- Applied Mechanics and Materials; October 2012, Vol. 201 Issue: 1 p630-634, 5p
- Publication Year :
- 2012
-
Abstract
- First it sets up a kinematical model for a kind of industrial robots by D-H notation, and inverse kinematics solutions of its end effector are deduced according to its motion trail. By transforming the rotation angles of the robot’s joints into impulse signals, pulse signals could be used to interpolate its motion trail. Finally, it uses Matlab software to join various curve of each joint impulse signal, and formulation a mathematical model about various curve of each joint impulse signal. In this way, it could simplify program in INFORM Ⅲ language. Simulation shows that direct pulse signal interpolation improves the accuracy of trajectory positioning.
Details
- Language :
- English
- ISSN :
- 16609336 and 16627482
- Volume :
- 201
- Issue :
- 1
- Database :
- Supplemental Index
- Journal :
- Applied Mechanics and Materials
- Publication Type :
- Periodical
- Accession number :
- ejs28879804
- Full Text :
- https://doi.org/10.4028/www.scientific.net/AMM.201-202.630